Test the set param mode
PositionSensor/PositionSensor.cpp
- Committer:
- benkatz
- Date:
- 2016-10-31
- Revision:
- 14:80ce59119d93
- Parent:
- 13:a3fa0a31b114
- Child:
- 20:bf9ea5125d52
File content as of revision 14:80ce59119d93:
#include "mbed.h" #include "PositionSensor.h" //#include <math.h> PositionSensorMA700::PositionSensorMA700(int CPR, float offset, int ppairs){ //_CPR = CPR; _CPR = CPR; _ppairs = ppairs; _offset = offset; rotations = 0; spi = new SPI(PC_12, PC_11, PC_10); spi->format(16, 0); cs = new DigitalOut(PA_15); cs->write(1); MechOffset = 0; } int PositionSensorMA700::GetRawPosition(){ cs->write(0); int response = spi->write(0)>>4; cs->write(1); return response; } float PositionSensorMA700::GetMechPosition(){ cs->write(0); int response = spi->write(0)>>4; cs->write(1); if(response - old_counts > _CPR/4){ rotations -= 1; } else if (response - old_counts < -_CPR/4){ rotations += 1; } old_counts = response; MechPosition = (6.28318530718f * ((float) response+(_CPR*rotations)))/ (float)_CPR; //return MechPosition - MechOffset; return MechPosition; } float PositionSensorMA700::GetElecPosition(){ cs->write(0); int response = spi->write(0)>>4; cs->write(1); float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*response)%_CPR)) - _offset; if(elec < 0) elec += 6.28318530718f; return elec; } float PositionSensorMA700::GetMechVelocity(){ return 0; } void PositionSensorMA700::ZeroPosition(){ rotations = 0; MechOffset = GetMechPosition(); } PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){ //_CPR = CPR; _CPR = CPR; _ppairs = ppairs; _offset = offset; rotations = 0; spi = new SPI(PC_12, PC_11, PC_10); spi->format(16, 1); spi->frequency(10000000); cs = new DigitalOut(PA_15); cs->write(1); readAngleCmd = 0xffff; MechOffset = 0; } int PositionSensorAM5147::GetRawPosition(){ cs->write(0); int angle = spi->write(0xffff); angle &= 0x3FFF; //Extract last 14 bits cs->write(1); return angle; } float PositionSensorAM5147::GetMechPosition(){ cs->write(0); int angle = spi->write(readAngleCmd); angle &= 0x3FFF; //Extract last 14 bits cs->write(1); if(angle - old_counts > _CPR/4){ rotations -= 1; } else if (angle - old_counts < -_CPR/4){ rotations += 1; } old_counts = angle; MechPosition = (6.28318530718f * ((float) angle+(_CPR*rotations)))/ (float)_CPR; //return MechPosition - MechOffset; return MechPosition; } float PositionSensorAM5147::GetElecPosition(){ cs->write(0); int angle = spi->write(readAngleCmd); angle &= 0x3FFF; //Extract last 14 bits cs->write(1); float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) - _offset; if(elec < 0) elec += 6.28318530718f; return elec; } float PositionSensorAM5147::GetMechVelocity(){ return 0; } void PositionSensorAM5147::ZeroPosition(){ rotations = 0; MechOffset = GetMechPosition(); } PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) { _ppairs = ppairs; _CPR = CPR; _offset = offset; MechPosition = 0; // Enable clock for GPIOA __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ // configure TIM3 as Encoder input // Enable clock for TIM3 __TIM3_CLK_ENABLE(); TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register TIM3->CCMR1 = 0xf1f1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler TIM3->ARR = CPR-1; // reload at 0xfffffff < TIM auto-reload register TIM3->CNT = 0x000; //reset the counter before we use it // Extra Timer for velocity measurement __TIM2_CLK_ENABLE(); TIM3->CR2 = 0x030; //MMS = 101 TIM2->PSC = 0x03; //TIM2->CR2 |= TIM_CR2_TI1S; TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge) TIM2->CCMR1 = 0x3;// CC1S = 11, IC1 mapped on TRC //TIM2->CR2 |= TIM_CR2_TI1S; TIM2->CCER |= TIM_CCER_CC1P; //TIM2->CCER |= TIM_CCER_CC1NP; TIM2->CCER |= TIM_CCER_CC1E; TIM2->CR1 = 0x01; //CEN TIM3->CR1 = 0x01; // CEN ZPulse = new InterruptIn(PC_4); ZSense = new DigitalIn(PC_4); //ZPulse = new InterruptIn(PB_0); //ZSense = new DigitalIn(PB_0); ZPulse->enable_irq(); ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount); //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown); ZPulse->mode(PullDown); flag = 0; //ZTest = new DigitalOut(PC_2); //ZTest->write(1); } float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians. int raw = TIM3->CNT; float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR); return (float) unsigned_mech;// + 6.28318530718f* (float) rotations; } float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians. int raw = TIM3->CNT; float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset; if(elec < 0) elec += 6.28318530718f; return elec; } float PositionSensorEncoder::GetMechVelocity(){ float out = 0; float rawPeriod = TIM2->CCR1; //Clock Ticks float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1 float meas = dir*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod; out = meas; if(meas == vel_old){ out = .99f*out_old; } else{ out = meas; } vel_old = meas; out_old = out; return out; } float PositionSensorEncoder::GetElecVelocity(){ return _ppairs*GetMechVelocity(); } void PositionSensorEncoder::ZeroEncoderCount(void){ if (ZSense->read() == 1 & flag == 0){ if (ZSense->read() == 1){ GPIOC->ODR ^= (1 << 4); TIM3->CNT = 0x000; //state = !state; //ZTest->write(state); GPIOC->ODR ^= (1 << 4); //flag = 1; } } } void PositionSensorEncoder::ZeroEncoderCountDown(void){ if (ZSense->read() == 0){ if (ZSense->read() == 0){ GPIOC->ODR ^= (1 << 4); flag = 0; float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; if(dir != dir){ dir = dir; rotations += dir; } GPIOC->ODR ^= (1 << 4); } } }